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Terabee / teraranger_description

ROS package with URDF description macros for Teraranger products
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Launch files failed to be run #11

Open lia2790 opened 2 years ago

lia2790 commented 2 years ago

Launch files failed to be run

Hi all,

I am opening that issue because I am not able to run both the launch files,

_roslaunch teraranger_description tower_evoview.launch

and

_roslaunch teraranger_description towerview.launch.

I obtain the same error in the terminal which I report it here:

liana@liana-MS-7820 ~/catkin_ws $ roslaunch teraranger_description tower_evo_view.launch 
... logging to /home/liana/.ros/log/e4d9611e-bef6-11ec-b526-d8cb8a3f0cce/roslaunch-liana-MS-7820-3886.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

Deprecated: xacro tag 'macro' w/o 'xacro:' xml namespace prefix (will be forbidden in Noetic)
when processing file: /home/liana/catkin_ws/src/teraranger_description/urdf/base_hub.urdf.xacro
included from: /home/liana/catkin_ws/src/teraranger_description/urdf/teraranger_evo_tower.urdf.xacro
included from: /home/liana/catkin_ws/src/teraranger_description/urdf/teraranger_evo_tower.urdf
Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

xacro.py is deprecated; please use xacro instead
started roslaunch server http://liana-MS-7820:36007/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    robot_state_publisher (robot_state_publisher/state_publisher)

auto-starting new master
process[master]: started with pid [3905]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e4d9611e-bef6-11ec-b526-d8cb8a3f0cce
process[rosout-1]: started with pid [3921]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [3924]
[ WARN] [1650272816.127443035]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead
[ERROR] [1650272816.130551090]: joint 'inertial_joint_0' is not unique.
[robot_state_publisher-2] process has died [pid 3924, exit code 1, cmd /opt/ros/melodic/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher __log:=/home/liana/.ros/log/e4d9611e-bef6-11ec-b526-d8cb8a3f0cce/robot_state_publisher-2.log].
log file: /home/liana/.ros/log/e4d9611e-bef6-11ec-b526-d8cb8a3f0cce/robot_state_publisher-2*.log

Is it possible to fix it?

many thanks,

Liana.

lia2790 commented 2 years ago

Update

So, I have played a bit with the files involved. If I modify the param _hub_id_ in these files:

  1. teraranger_description/urdf/teraranger_tower.urdf.xacro
  2. teraranger_description/urdf/teraranger_evo_tower.urdf.xacro

with different id, the following error:

is fixed.

Furthermore, with the following warning

it is not possible to visualize that models on rviz (which is the tool I use to visualize them). Therefore, fixing it as suggested it works jointly with the xacro deprecated version warnings.

Anyhow, if it is possible having all fixed inside the repo, it could be great.

thank you for your time,

Liana.